Adaptive Model Predictive Control for AGVs Based on Disturbance Observers

This paper studies the robust trajectory tracking problem for AGVs based on model predictive control strategy, where an extended state observer is developed to estimate the external disturbance. A robust adaptive minimum invariant set is proposed according to the estimation of disturbances, based on which some conservatism is reduced compared with existing common methods. Finally, simulation results verify the effectiveness of the method.